Dynamic model editing.

PiperOrigin-RevId: 640838852 Change-Id: I559b1d60f2a3a2d866788d4006be31757454c619
2024-06-06 03:29:56 -07:00
parent 40755e165d
commit ba8a2d4c8a
9 changed files with 239 additions and 13 deletions
@@ -83,6 +83,16 @@ mjModel* mjs_compile(mjSpec* s, const mjVFS* vfs) {



+// recompile spec into existing model and data while preserving the state
+void mjs_recompile(mjSpec* s, const mjVFS* vfs, mjModel* m, mjData* d) {
+  mjCModel* modelC = static_cast<mjCModel*>(s->element);
+  modelC->SaveState(d);
+  modelC->Compile(vfs, &m);
+  modelC->RestoreState(m, &d);
+}
+
+
+
 // attach body to a frame of the parent
 int mjs_attachBody(mjsFrame* parent, const mjsBody* child,
                   const char* prefix, const char* suffix) {